Mirrors_Framework/PX4-Autopilot
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add topic header includes

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This commit is contained in:
Thomas Gubler
2015-01-25 13:39:34 +01:00
parent ee6395c502
commit 14aa5f9441
11 changed files with 53 additions and 14 deletions
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src/drivers/hil/hil.cpp
+12 -10
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@@ -75,6 +75,8 @@
#include <systemlib/mixer/mixer.h> #include <systemlib/mixer/mixer.h>
#include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_armed.h> #include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_outputs.h>
@@ -250,7 +252,7 @@ HIL::task_main_trampoline(int argc, char *argv[])
int int
HIL::set_mode(Mode mode) HIL::set_mode(Mode mode)
{ {
/* /*
* Configure for PWM output. * Configure for PWM output.
* *
* Note that regardless of the configured mode, the task is always * Note that regardless of the configured mode, the task is always
@@ -269,19 +271,19 @@ HIL::set_mode(Mode mode)
/* multi-port as 4 PWM outs */ /* multi-port as 4 PWM outs */
_update_rate = 50; /* default output rate */ _update_rate = 50; /* default output rate */
break; break;
case MODE_8PWM: case MODE_8PWM:
debug("MODE_8PWM"); debug("MODE_8PWM");
/* multi-port as 8 PWM outs */ /* multi-port as 8 PWM outs */
_update_rate = 50; /* default output rate */ _update_rate = 50; /* default output rate */
break; break;
case MODE_12PWM: case MODE_12PWM:
debug("MODE_12PWM"); debug("MODE_12PWM");
/* multi-port as 12 PWM outs */ /* multi-port as 12 PWM outs */
_update_rate = 50; /* default output rate */ _update_rate = 50; /* default output rate */
break; break;
case MODE_16PWM: case MODE_16PWM:
debug("MODE_16PWM"); debug("MODE_16PWM");
/* multi-port as 16 PWM outs */ /* multi-port as 16 PWM outs */
@@ -513,12 +515,12 @@ HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break; break;
case PWM_SERVO_SET_UPDATE_RATE: case PWM_SERVO_SET_UPDATE_RATE:
// HIL always outputs at the alternate (usually faster) rate // HIL always outputs at the alternate (usually faster) rate
g_hil->set_pwm_rate(arg); g_hil->set_pwm_rate(arg);
break; break;
case PWM_SERVO_SET_SELECT_UPDATE_RATE: case PWM_SERVO_SET_SELECT_UPDATE_RATE:
// HIL always outputs at the alternate (usually faster) rate // HIL always outputs at the alternate (usually faster) rate
break; break;
case PWM_SERVO_SET(2): case PWM_SERVO_SET(2):
@@ -659,7 +661,7 @@ int
hil_new_mode(PortMode new_mode) hil_new_mode(PortMode new_mode)
{ {
// uint32_t gpio_bits; // uint32_t gpio_bits;
// /* reset to all-inputs */ // /* reset to all-inputs */
// g_hil->ioctl(0, GPIO_RESET, 0); // g_hil->ioctl(0, GPIO_RESET, 0);
@@ -691,17 +693,17 @@ hil_new_mode(PortMode new_mode)
/* select 2-pin PWM mode */ /* select 2-pin PWM mode */
servo_mode = HIL::MODE_2PWM; servo_mode = HIL::MODE_2PWM;
break; break;
case PORT2_8PWM: case PORT2_8PWM:
/* select 8-pin PWM mode */ /* select 8-pin PWM mode */
servo_mode = HIL::MODE_8PWM; servo_mode = HIL::MODE_8PWM;
break; break;
case PORT2_12PWM: case PORT2_12PWM:
/* select 12-pin PWM mode */ /* select 12-pin PWM mode */
servo_mode = HIL::MODE_12PWM; servo_mode = HIL::MODE_12PWM;
break; break;
case PORT2_16PWM: case PORT2_16PWM:
/* select 16-pin PWM mode */ /* select 16-pin PWM mode */
servo_mode = HIL::MODE_16PWM; servo_mode = HIL::MODE_16PWM;
src/drivers/mkblctrl/mkblctrl.cpp
+1
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@@ -74,6 +74,7 @@
#include <drivers/drv_mixer.h> #include <drivers/drv_mixer.h>
#include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h> #include <uORB/topics/actuator_armed.h>
#include <uORB/topics/esc_status.h> #include <uORB/topics/esc_status.h>
src/drivers/px4fmu/fmu.cpp
+5 -1
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@@ -70,6 +70,10 @@
#include <drivers/drv_rc_input.h> #include <drivers/drv_rc_input.h>
#include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h> #include <uORB/topics/actuator_armed.h>
@@ -1144,7 +1148,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
* and PWM under control of the flight config * and PWM under control of the flight config
* parameters. Note that this does not allow for * parameters. Note that this does not allow for
* changing a set of pins to be used for serial on * changing a set of pins to be used for serial on
* FMUv1 * FMUv1
*/ */
switch (arg) { switch (arg) {
case 0: case 0:
src/drivers/px4io/px4io.cpp
+6 -2
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@@ -75,6 +75,10 @@
#include <systemlib/circuit_breaker.h> #include <systemlib/circuit_breaker.h>
#include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h> #include <uORB/topics/actuator_armed.h>
#include <uORB/topics/safety.h> #include <uORB/topics/safety.h>
@@ -1199,7 +1203,7 @@ PX4IO::io_set_arming_state()
if (armed.ready_to_arm) { if (armed.ready_to_arm) {
set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
} else { } else {
clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
} }
@@ -2590,7 +2594,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
case PWM_SERVO_SET_RC_CONFIG: { case PWM_SERVO_SET_RC_CONFIG: {
/* enable setting of RC configuration without relying /* enable setting of RC configuration without relying
on param_get() on param_get()
*/ */
struct pwm_output_rc_config* config = (struct pwm_output_rc_config*)arg; struct pwm_output_rc_config* config = (struct pwm_output_rc_config*)arg;
if (config->channel >= RC_INPUT_MAX_CHANNELS) { if (config->channel >= RC_INPUT_MAX_CHANNELS) {
src/modules/bottle_drop/bottle_drop.cpp
+4
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@@ -57,6 +57,10 @@
#include <uORB/uORB.h> #include <uORB/uORB.h>
#include <uORB/topics/vehicle_command.h> #include <uORB/topics/vehicle_command.h>
#include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/wind_estimate.h> #include <uORB/topics/wind_estimate.h>
#include <uORB/topics/parameter_update.h> #include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/vehicle_global_position.h>
src/modules/commander/commander.cpp
+4
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@@ -74,6 +74,10 @@
#include <uORB/topics/vehicle_command.h> #include <uORB/topics/vehicle_command.h>
#include <uORB/topics/subsystem_info.h> #include <uORB/topics/subsystem_info.h>
#include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/actuator_armed.h> #include <uORB/topics/actuator_armed.h>
#include <uORB/topics/parameter_update.h> #include <uORB/topics/parameter_update.h>
#include <uORB/topics/differential_pressure.h> #include <uORB/topics/differential_pressure.h>
src/modules/controllib/uorb/blocks.hpp
+4
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@@ -47,6 +47,10 @@
#include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/vehicle_status.h> #include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/parameter_update.h> #include <uORB/topics/parameter_update.h>
#include <stdio.h> #include <stdio.h>
src/modules/position_estimator_inav/position_estimator_inav_main.c
+4
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@@ -53,6 +53,10 @@
#include <uORB/uORB.h> #include <uORB/uORB.h>
#include <uORB/topics/parameter_update.h> #include <uORB/topics/parameter_update.h>
#include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/actuator_armed.h> #include <uORB/topics/actuator_armed.h>
#include <uORB/topics/sensor_combined.h> #include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_attitude.h>
src/modules/sdlog2/sdlog2.c
+5 -1
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@@ -70,6 +70,10 @@
#include <uORB/topics/vehicle_attitude_setpoint.h> #include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h> #include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_command.h> #include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_local_position.h> #include <uORB/topics/vehicle_local_position.h>
@@ -1117,7 +1121,7 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.system_power_sub = orb_subscribe(ORB_ID(system_power)); subs.system_power_sub = orb_subscribe(ORB_ID(system_power));
subs.servorail_status_sub = orb_subscribe(ORB_ID(servorail_status)); subs.servorail_status_sub = orb_subscribe(ORB_ID(servorail_status));
subs.wind_sub = orb_subscribe(ORB_ID(wind_estimate)); subs.wind_sub = orb_subscribe(ORB_ID(wind_estimate));
/* we need to rate-limit wind, as we do not need the full update rate */ /* we need to rate-limit wind, as we do not need the full update rate */
orb_set_interval(subs.wind_sub, 90); orb_set_interval(subs.wind_sub, 90);
subs.encoders_sub = orb_subscribe(ORB_ID(encoders)); subs.encoders_sub = orb_subscribe(ORB_ID(encoders));
src/modules/vtol_att_control/vtol_att_control_main.cpp
+4
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@@ -58,7 +58,11 @@
#include <uORB/topics/vehicle_attitude_setpoint.h> #include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_virtual_mc.h>
#include <uORB/topics/actuator_controls_virtual_fw.h>
#include <uORB/topics/vehicle_rates_setpoint.h> #include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/mc_virtual_rates_setpoint.h>
#include <uORB/topics/fw_virtual_rates_setpoint.h>
#include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vtol_vehicle_status.h> #include <uORB/topics/vtol_vehicle_status.h>
src/systemcmds/esc_calib/esc_calib.c
+4
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@@ -64,6 +64,10 @@
#include "drivers/drv_pwm_output.h" #include "drivers/drv_pwm_output.h"
#include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
static void usage(const char *reason); static void usage(const char *reason);
__EXPORT int esc_calib_main(int argc, char *argv[]); __EXPORT int esc_calib_main(int argc, char *argv[]);